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<div class="title">fast_bilateral.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2004, Sylvain Paris and Francois Sillion</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_FAST_BILATERAL_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_FILTERS_FAST_BILATERAL_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html">   58</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_fast_bilateral_filter.html">FastBilateralFilter</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; FastBilateralFilter&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const FastBilateralFilter&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html#aac5f04a891620ef285bbb45f73af16b6">   70</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#aac5f04a891620ef285bbb45f73af16b6">FastBilateralFilter</a> ()</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        : sigma_s_ (15.0f)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        , sigma_r_ (0.05f)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        , early_division_ (false)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      { }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html#ab372570329d83c3774bca088ee75a57a">   77</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#ab372570329d83c3774bca088ee75a57a">~FastBilateralFilter</a> () {}</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html#a62f17d57f5d02df4854af84612e36955">   84</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#a62f17d57f5d02df4854af84612e36955">setSigmaS</a> (<span class="keywordtype">float</span> sigma_s)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      { sigma_s_ = sigma_s; }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html#ad1e3d0eae7a417e52afd5b67d0f6a55f">   89</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#ad1e3d0eae7a417e52afd5b67d0f6a55f">getSigmaS</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> sigma_s_; }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html#ace9aba523421f9c13c79b2fe619c5a40">   98</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#ace9aba523421f9c13c79b2fe619c5a40">setSigmaR</a> (<span class="keywordtype">float</span> sigma_r)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      { sigma_r_ = sigma_r; }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter.html#ab19a0163b468f86727db5bda738a4936">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#ab19a0163b468f86727db5bda738a4936">getSigmaR</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> sigma_r_; }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classpcl_1_1_fast_bilateral_filter.html#adae3848512ae44c4480b91fb8c7931bd">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordtype">float</span> sigma_s_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">float</span> sigma_r_;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">bool</span> early_division_;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">  117</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">Array3D</a></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <a class="code" href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">Array3D</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height, <span class="keyword">const</span> <span class="keywordtype">size_t</span> depth)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            x_dim_ = width;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            y_dim_ = height;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            z_dim_ = depth;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            v_ = std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; (width*height*depth, Eigen::Vector2f (0.0f, 0.0f));</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keyword">inline</span> Eigen::Vector2f&amp;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          operator () (<span class="keyword">const</span> <span class="keywordtype">size_t</span> x, <span class="keyword">const</span> <span class="keywordtype">size_t</span> y, <span class="keyword">const</span> <span class="keywordtype">size_t</span> z)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          { <span class="keywordflow">return</span> v_[(x * y_dim_ + y) * z_dim_ + z]; }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Vector2f&amp;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          operator () (<span class="keyword">const</span> <span class="keywordtype">size_t</span> x, <span class="keyword">const</span> <span class="keywordtype">size_t</span> y, <span class="keyword">const</span> <span class="keywordtype">size_t</span> z)<span class="keyword"> const</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> v_[(x * y_dim_ + y) * z_dim_ + z]; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          resize (<span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height, <span class="keyword">const</span> <span class="keywordtype">size_t</span> depth)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            x_dim_ = width;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            y_dim_ = height;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            z_dim_ = depth;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            v_.resize (x_dim_ * y_dim_ * z_dim_);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          Eigen::Vector2f</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          trilinear_interpolation (<span class="keyword">const</span> <span class="keywordtype">float</span> x,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                                   <span class="keyword">const</span> <span class="keywordtype">float</span> y,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                   <span class="keyword">const</span> <span class="keywordtype">float</span> z);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          clamp (<span class="keyword">const</span> <span class="keywordtype">size_t</span> min_value,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_value,</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">size_t</span> x);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          x_size ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> x_dim_; }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          y_size ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> y_dim_; }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          z_size ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> z_dim_; }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keyword">inline</span> std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;::iterator</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          begin ()</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          { <span class="keywordflow">return</span> v_.begin (); }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="keyword">inline</span> std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;::iterator</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          end ()</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          { <span class="keywordflow">return</span> v_.end (); }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <span class="keyword">inline</span> std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;::const_iterator</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          begin ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> v_.begin (); }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="keyword">inline</span> std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt;::const_iterator</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          end ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword">          </span>{ <span class="keywordflow">return</span> v_.end (); }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; v_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          <span class="keywordtype">size_t</span> x_dim_, y_dim_, z_dim_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      };</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  };</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;}</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/fast_bilateral.hpp&gt;</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_FastBilateralFilter(T) template class PCL_EXPORTS pcl::FastBilateralFilter&lt;T&gt;;</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_FILTERS_FAST_BILATERAL_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_1_1_array3_d_html"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter_1_1_array3_d.html">pcl::FastBilateralFilter::Array3D</a></div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html">pcl::FastBilateralFilter</a></div><div class="ttdoc">Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_a62f17d57f5d02df4854af84612e36955"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#a62f17d57f5d02df4854af84612e36955">pcl::FastBilateralFilter::setSigmaS</a></div><div class="ttdeci">void setSigmaS(float sigma_s)</div><div class="ttdoc">Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/...</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_aac5f04a891620ef285bbb45f73af16b6"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#aac5f04a891620ef285bbb45f73af16b6">pcl::FastBilateralFilter::FastBilateralFilter</a></div><div class="ttdeci">FastBilateralFilter()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_ab19a0163b468f86727db5bda738a4936"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#ab19a0163b468f86727db5bda738a4936">pcl::FastBilateralFilter::getSigmaR</a></div><div class="ttdeci">float getSigmaR() const</div><div class="ttdoc">Get the standard deviation of the Gaussian for the intensity difference</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_ab372570329d83c3774bca088ee75a57a"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#ab372570329d83c3774bca088ee75a57a">pcl::FastBilateralFilter::~FastBilateralFilter</a></div><div class="ttdeci">virtual ~FastBilateralFilter()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_ace9aba523421f9c13c79b2fe619c5a40"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#ace9aba523421f9c13c79b2fe619c5a40">pcl::FastBilateralFilter::setSigmaR</a></div><div class="ttdeci">void setSigmaR(float sigma_r)</div><div class="ttdoc">Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted...</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_ad1e3d0eae7a417e52afd5b67d0f6a55f"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#ad1e3d0eae7a417e52afd5b67d0f6a55f">pcl::FastBilateralFilter::getSigmaS</a></div><div class="ttdeci">float getSigmaS() const</div><div class="ttdoc">Get the size of the Gaussian bilateral filter window as set by the user.</div><div class="ttdef"><b>Definition:</b> fast_bilateral.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_fast_bilateral_filter_html_adae3848512ae44c4480b91fb8c7931bd"><div class="ttname"><a href="classpcl_1_1_fast_bilateral_filter.html#adae3848512ae44c4480b91fb8c7931bd">pcl::FastBilateralFilter::applyFilter</a></div><div class="ttdeci">virtual void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter the input data and store the results into output.</div><div class="ttdef"><b>Definition:</b> fast_bilateral.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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